Work vehicle

Abstract

To provide a work vehicle in which equipment such as a VRS communication unit can be placed in a location with good radio wave reception, as with the positioning unit.SOLUTION: An automatically traveling work vehicle includes: a support frame erected on a vehicle body; a support bracket 81 fixed across a cross beam 17b2 of the support frame; a positioning unit attached to an upper part of the support bracket 81; and a storage container 90 with a storage chamber 90A attached to a lower part of the support bracket 81. The storage container 90 includes a fixing structure 92 attached to the support bracket 81 and a switching structure body 91 capable of switching between a closed state and an open state.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a work vehicle that automatically travels using the position of the host vehicle calculated based on signals from a positioning unit.

Background Art

[0002] As a work vehicle equipped with a positioning unit, for example, a rice transplanter described in Patent Document 1 is known. In the rice transplanter described in Patent Document 1, a positioning unit having a satellite positioning module that receives radio waves from satellites of a global navigation satellite system (GNSS) is attached to a mounting table fixed to the upper surface of a cross beam member extending in the vehicle width direction of a preliminary seedling support frame. Further, a support portion extends downward from the mounting table, and a voice alarm generator is supported inside a box portion formed at the lower portion of the support member.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the position of the host vehicle is calculated using radio wave signals from GNSS satellites, RTK-GNSS positioning (Real-Time Kinematic GNSS) is used to improve the position accuracy. In this RTK-GNSS positioning, a base station is installed at a known coordinate position near the work site (field), and data communication is performed between the base station and the positioning unit. The work of installing this base station at an accurate coordinate position has become a burden for agricultural work during automatic driving. In recent years, in order to reduce such a burden, instead of RTK-GNSS positioning, a VRS method (network-type RTK-GNSS positioning) has been adopted. In this VRS method, installation of a base station is not required, but a VRS communication unit (virtual reference point data receiving unit) for exchanging data with a GNSS correction data distribution service is required. This VRS communication unit, like the positioning unit, needs to be placed in a location where it is not affected by radio wave interference by the components of the work vehicle.

[0005] From the above situation, an object of the present invention is to provide a work vehicle in which devices such as a VRS communication unit can be arranged in a location with good radio wave conditions similar to the positioning unit.

Means for Solving the Problem

[0006] The work vehicle capable of automatic driving according to the present invention includes a support frame erected on the vehicle body, a support bracket fixed so as to straddle the cross beam of the support frame, a positioning unit attached to the upper part of the support bracket, and a storage device having a storage chamber attached to the lower part of the support bracket. The storage device includes a fixed structure attached to the support bracket and a switching structure that can be switched between a closed state and an open state.

[0007] According to this configuration, a storage device capable of storing devices such as a communication unit is attached to a support frame erected on the vehicle body via a common support bracket together with a positioning unit. Since the positioning unit is attached to a place with good radio wave conditions (a place with good reception sensitivity), the inside of the storage device attached near the positioning unit is also basically in good radio wave conditions. In addition, since the storage device is located below the positioning unit, the possibility that the storage device interferes with the radio wave conditions of the positioning unit is low. Furthermore, since the storage device is composed of a switching structure that can be switched between a closed state and an open state with respect to a fixed structure attached to the support bracket, access to the device stored in the storage device becomes easy by setting the switching structure to the open state.

[0008] If a switching structure that can be switched between a closed state and an open state with respect to a fixed structure can maintain a certain posture without detaching from the fixed structure even in the open state, it is convenient when accessing the device stored in the storage device. From this, in the present invention, it is proposed that the switching structure be a displacement structure provided on the fixed structure so as to be displaceable between a closed posture and an open posture. Furthermore, as a suitable displacement structure, a swing structure provided on the fixed structure so as to be swingable between the closed posture and the open posture is proposed. The swing structure has the advantage that it can create a large opening in the open posture despite simple displacement. Of course, as other displacement structures, an up-and-down slide structure, a horizontal slide structure, a combination of a slide structure and a swing structure, etc. may be adopted. Note that the switching structure and the displacement structure may not create a substantial storage space and may only form one surface of the storage chamber. Conversely, the switching structure and the displacement structure may create a substantial storage space and the fixed structure may only form one surface of the storage chamber.

[0009] Work machines that perform traveling operations on rocky ground, grasslands, or farmland often lift foreign objects associated with the work upward. To protect the equipment stored in the storage device from such foreign objects, it is preferable to form the bottom surface of the storage device and arrange the equipment on the bottom surface or above the bottom surface. For this reason, in the present invention, it is proposed that the swing structure forms at least the bottom surface of the storage chamber.

[0010] Since the storage device is provided at the lower part of the support bracket fixed to the cross beam of the support frame, the space below the storage device can be used as a free space. To effectively utilize this free space, in the present invention, it is proposed that the swing structure is provided so as to be swingable up and down with respect to the fixed structure.

[0011] When electronic equipment such as a VRS communication unit is arranged in the storage chamber, a power supply socket is required for power supply from the power system of the work vehicle to the equipment or for battery charging of the equipment. To meet this requirement, in the present invention, the storage chamber is formed as an electronic equipment storage chamber, and a power supply socket is provided in the storage chamber.

[0012] When the equipment stored in the storage chamber is a heat-generating device, in order to avoid an increase in the temperature inside the storage chamber and for air cooling of the heat-generating device, in the present invention, in the closed state of the switching structure, at least one surface of the storage chamber is configured to allow air circulation with the outside. With this configuration, even when the storage chamber is in the closed state except for maintenance and inspection work, an increase in the temperature inside the storage chamber and the stored equipment can be avoided.

[0013] Since the storage device is located above the vehicle body, it is highly likely to vibrate considerably depending on the condition of the traveling ground. Therefore, it is preferable to fix the equipment stored in the storage chamber by some method. For this reason, in the present invention, a fixing mechanism for fixing the equipment stored in the storage chamber is provided in the storage chamber. Furthermore, when the storage chamber is in the open state, it is preferable that the stored equipment can be fixed so as not to fall even if it is in an inclined posture or a reversed posture.

[0014] In order to prevent the storage device attached to the support frame via the support bracket from becoming unstable due to the device to be stored, it is preferable that the device to be stored and the fixing mechanism are located around the bottom of the storage device. Therefore, in the present invention, the fixing mechanism is installed on the bottom surface of the storage chamber.

[0015] The size of the device to be stored varies depending on the type of the device, and the outer size may be changed when the device is replaced. In order to solve this problem, in the present invention, the fixing mechanism has a fixture whose fixing position with respect to the device is variable. Examples of the structure of such a fixture include an adjustment bolt structure, a slide structure, and a spring retainer structure.

[0016] Since the storage device is attached to the support frame erected on the vehicle body of the working vehicle, it is highly likely to be exposed to wind and rain. Furthermore, if the storage chamber is provided with air permeability so as not to become hot, there is a high possibility that water will enter the storage chamber. In order to make it difficult for the stored device to be damaged by water or the like that has entered the storage chamber, it is preferable that the device to be stored is fixed at a position higher than the bottom surface of the storage chamber. Therefore, the fixing mechanism is configured to fix the device at a position away from above the bottom surface of the storage chamber.

[0017] When the positioning unit is the VRS method and no base station is installed, a virtual reference point data receiving unit is required. Therefore, in a preferred embodiment of the present invention, the positioning unit is provided with a VRS method positioning unit, and the virtual reference point data receiving unit is stored in the storage chamber. The virtual reference point data receiving unit stored in the storage chamber can enjoy the advantages described above that the device stored in the storage chamber receives.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0019] In this specification, unless otherwise specified, "front" means the front in the longitudinal direction of the vehicle body, and "rear" means the rear in the longitudinal direction of the vehicle body. That is, the longitudinal direction of the vehicle body is the traveling direction, the forward direction is indicated by arrow F in FIG. 1, and the reverse direction is indicated by arrow B in FIG. 1. Further, the left-right direction or the lateral direction means the transverse direction of the vehicle body (vehicle width direction) orthogonal to the longitudinal direction of the vehicle body. "Up" or "down" is the positional relationship in the vertical direction (perpendicular direction) of the vehicle body, indicating the relationship regarding the ground height.

[0020] Next, with reference to the drawings, one specific embodiment of the work vehicle according to the present invention will be described. FIG. 1 is a side view of a transplanter (hereinafter simply referred to as a rice transplanter) that automatically travels in a field, which is an example of a work vehicle.

[0021] 〔Overall Structure〕 As shown in FIG. 1, the rice transplanter is a four-wheel drive vehicle of the riding type. At the rear part of the vehicle body 1, a link mechanism 13 of the parallel four-link type that is connected so as to be able to lift and swing is provided, and a seedling planting device 3 that is connected so as to be able to roll is attached to the rear end region of the link mechanism 13. Further, a fertilizer application device 4 installed from the rear end region of the vehicle body 1 to the seedling planting device 3, and a chemical spraying device 18 provided in the rear end region of the seedling planting device 3, etc. are provided. The seedling planting device 3, the fertilizer application device 4, and the chemical spraying device 18 are examples of working devices.

[0022] The vehicle body 1 is equipped with wheels 12, an engine 2, and a hydrostatic continuously variable transmission 9, which is the main transmission mechanism for traveling. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission), and it changes the driving force (rotation speed) output from the engine 2 by adjusting the angles of the motor swash plate and the pump swash plate. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 2 and the continuously variable transmission 9 are mounted at the front of the vehicle body 1. The power from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the working device, etc. via the continuously variable transmission 9 and the like.

[0023] The seedling planting device 3 is configured in an 8-row planting format as an example. The seedling planting device 3 includes a seedling placing table 21, planting mechanisms 22 for 8 rows, etc. Note that this seedling planting device 3 can be changed to a format such as 2-row planting, 4-row planting, 6-row planting, etc. by clutch control.

[0024] The seedling placing table 21 is a pedestal for placing mat-shaped seedlings for 8 rows. The seedling placing table 21 reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and the longitudinal feeding mechanism 23 longitudinally feeds each mat-shaped seedling on the seedling placing table 21 at a predetermined pitch toward the lower end of the seedling placing table 21 every time the seedling placing table 21 reaches the left and right stroke ends. The eight planting mechanisms 22 are rotary type and are arranged in the left-right direction at a constant interval corresponding to the row spacing for planting. And each planting mechanism 22 has the driving force transmitted from the engine 2 when the seedling planting clutch is in the transmission state, cuts out a single-strain seedling (also referred to as a planted seedling) from the lower end of each mat-shaped seedling placed on the seedling placing table 21, and plants it in the soil part after land preparation.

[0025] The fertilizer application device 4 includes a horizontally long hopper 25, a feeding mechanism 26, an electric blower 27, a plurality of fertilizer hoses 28, and furrow openers 29 provided for each row. The hopper 25 stores granular or powdered fertilizer. The feeding mechanism 26 is operated by the power transmitted from a motor (not shown) and feeds out a predetermined amount of fertilizer for two rows from the hopper 25 each time.

[0026] The blower 27 generates a conveying air flow that conveys the fertilizer fed out by each feeding mechanism 26 toward the muddy surface of the field. The fertilizer application device 4 can be switched between an operating state in which the fertilizer stored in the hopper 25 is supplied to the field in predetermined amounts by intermittent operation of the blower 27 etc., and a non-operating state in which the supply is stopped.

[0027] The vehicle body 1 includes an operation unit 14 in its rear side region. The operation unit 14 includes a steering wheel 10 for front wheel steering, a main shift lever 7A for adjusting the vehicle speed by performing a shift operation of the continuously variable transmission 9, a sub-shift lever 7B enabling a shift operation of the sub-transmission, a work operation lever 11 enabling lifting operation of the seedling planting device 3 and switching of the operating state, an information terminal 5 having a touch panel for displaying (notifying) various information to notify (output) to the operator and receiving input of various information, and a driver's seat 16 for the operator (driver / worker), etc. Further, in front of the operation unit 14, a spare seedling storage device 15 for storing spare seedlings is supported by a spare seedling support frame 17.

[0028] The steering wheel 10 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted through the rotation operation of the steering wheel 10.

[0029] As shown in FIGS. 1 and 2, the spare seedling support frame 17 that also functions as a support frame of the present invention has an upper and lower two-stage structure including a base frame 17a and an arch-shaped upper frame 17b provided at the upper end of the base frame 17a. The upper frame 17b includes a pair of left and right legs 17b1 and a cross beam 17b2 connecting the legs 17b1, and is arranged at a height positioned obliquely upward in front of the operation unit 14.

[0030] As shown in FIG. 2, the positioning unit 8 which is a VRS method positioning unit and the remote control receiving device 70 are arranged side by side horizontally on the cross beam 17b2 of the upper frame 17b.

[0031] As shown in FIGS. 3 and 4, the positioning unit 8 includes a satellite positioning module 8A which is the core element of the positioning unit 8, and a housing 80 that houses the satellite positioning module 8A. The support bracket 81 that supports the positioning unit 8 is arranged so as to straddle the cross beam 17b2 and is fixed to the cross beam 17b2. The positioning unit 8 is attached to the upper part of the support bracket 81. Further, a storage device 90 is attached to the lower part of the support bracket 81.

[0032] The storage device 90 includes an upper case 92 which is a fixed structure fixed to the support bracket 81, and a lower case 91 (an example of a switching structure) which is a swing structure provided on the upper case 92 so as to be swingable between a closed posture and an open posture. A storage chamber 90A is formed between the upper case 92 and the lower case 91. The upper case 92 is made of metal, and the lower case 91 is made of resin. Thereby, the upper case 92 becomes rigid and is firmly fixed to the support bracket 81. Also, the swinging lower case 91 becomes flexible and alleviates any collision impact. Of course, the upper case 92 may be made of resin and the lower case 91 may be made of metal. Furthermore, both may be made of metal or both may be made of resin. In this embodiment, since the satellite positioning module 8A adopts a network-type RTK-GNSS positioning method (VRS method), a virtual reference point data reception unit 8B used in the VRS method is stored in the storage chamber 90A. Further, the storage chamber 90A can also store other electronic devices. A power supply socket 96 is also provided in the storage chamber 90A. Here, the storage chamber 90A is used as an electronic device storage chamber, but other articles may be stored.

[0033] The upper case 92 has a top wall 92t bolted to the support bracket 81, left and right side walls 92s extending downward from the top wall 92t, and a front wall 92f extending downward from the top wall 92t. The front wall 92f extends downward with a length of at least half of the depth of the storage chamber 90A. A pair of left and right open cutout portions 92f1 are formed in the front wall 92f. The front end portions of the side walls 92s extend downward with the same length as the front wall 92f, but are shorter otherwise. The lower case 91 is a rectangular parallelepiped container with an open top surface, and has a bottom wall 91b forming the bottom surface of the storage chamber 90A, a pair of left and right side walls 91s, a rear wall 91r, and a front wall 91f. The upper part of the front wall 91f terminates at the lower end of the open cutout portion 92f1.

[0034] The rear end portions of the left and right side walls 92s of the upper case 92 and the upper rear end portions of the left and right side walls 91s of the lower case 91 are connected by a swing shaft pin 94, and the lower case 91 can swing up and down with respect to the upper case 92. A lock mechanism 93 is provided to prevent the lower case 91 from swinging up and down and hold the lower case 91 in a closed posture with respect to the upper case 92. The lock mechanism 93 has a dial 93a, a rotating arm 93b fixed to the dial 93a, and a locking bracket 93c engaged with the arm tip of the rotating arm 93b. The dial 93a is disposed at the center of the front surface of the front wall 92f of the upper case 92. The locking bracket 93c is fixed to the upper part of the front wall 91f of the lower case 91 and has an engagement hole 93d into which the arm tip of the rotating arm 93b is inserted. When the dial 93a is rotated in one direction, the arm tip of the rotating arm 93b engages with the engagement hole 93d, preventing the lower case 91 from swinging up and down and maintaining the closed state of the storage 90. When the dial 93a is rotated in one direction, the engagement between the arm tip of the rotating arm 93b and the engagement hole 93d is disengaged, and the lower case 91 can swing downward to open the storage 90. Although not shown, a stopper can limit the size of this open state.

[0035] In FIG. 4, as shown in detail as a sectional view, two fixing mechanisms 97 and 98 for fixing the devices stored in the storage chamber 90A are provided on the bottom wall 91b of the lower case 91. In this embodiment, the fixing mechanism 97 is used to fix the virtual reference point data receiving unit 8B, and the fixing mechanism 98 is used to fix the power supply socket 96. The fixing mechanisms 97 and 98 may be integrated. The fixing mechanism 97 has a pedestal 97a and a fixture 97b provided on the pedestal 97a. Similarly, the fixing mechanism 98 also has a pedestal 98a and a fixture 98b provided on the pedestal 98a. The respective fixtures 97b and 98b are provided on the upper surfaces of the respective pedestals 97a and 98a. In this embodiment, the upper surfaces of the pedestals 97a and 98a serve as the fixing surfaces for the devices to be stored, that is, the virtual reference point data receiving unit 8B and the power supply socket 96. Therefore, the devices fixed by the fixing mechanisms 97 and 98 are positioned away from the bottom surface of the bottom wall 91b upward, and even if rainwater or the like accumulates on the bottom surface to some extent, the devices are prevented from coming into contact with water. The fixtures 97b and 98b are slidable on the fixing surface, and devices of various sizes can be fixed at arbitrary fixing positions. Thereby, even if the container 90 vibrates, the devices stored in the storage chamber 90A are prevented from shifting. If the devices to be accommodated are lightweight, the fixtures 97b and 98b may be surface fasteners or simple elastic strings.

[0036] In FIG. 4, the closed posture of the lower case 91 engaged with the upper case 92 (the closed state of the storage device 90) is shown. In FIG. 4, the open posture of the lower case 91 where the front end of the lower case 91 is separated from the upper case 92 (the open state of the storage device 90) is shown by a two-dot chain line. In the closed state which is the normal state of the storage device 90, the open cutout portion 92f1 of the front wall 92f serves as an air circulation port, and fresh air above the operation unit 14 flows into the storage chamber 90A, and the virtual reference point data receiving unit 8B is cooled. Also, when the storage device 90 is opened for maintenance of the virtual reference point data receiving unit 8B or for taking in and out the devices stored in the storage chamber 90A, the bottom wall 91b of the lower case 91 slopes downward to the front, facilitating access to the storage device 90 by an inspector or an operator. For example, when using a mobile phone or a tablet computer brought along as the virtual reference point data receiving unit 8B, it is convenient that access to the storage device 90 is easy.

[0037] A power supply socket 96 is provided in the storage chamber 90A. When the virtual reference point data receiving unit 8B is driven by a mobile battery, this mobile battery is charged through the power supply socket 96. Also, when a mobile phone, a tablet computer, and a WIFI modem for these are stored in the storage device 90, power supply and charging for these are performed through the power supply socket 96. Further, when the power supply socket 96 also has a data communication function, data communication is performed between the virtual reference point data receiving unit 8B and the satellite positioning module 8A through the power supply socket 96.

[0038] Although not shown in the figure, any antenna of the satellite positioning module 8A, the virtual reference point data receiving unit 8B, or the remote control receiving device 70 can be detachably attached to the support bracket 81 or the storage device 90 using a magnet or the like.

[0039] Although detailed illustrations are omitted, the upper frame 17b of the preliminary seedling support frame 17 can swing vertically between the standing posture shown by the solid line in FIG. 1 and the horizontal lying posture shown by the two-dot chain line in FIG. 1 with respect to the base frame 17a. As shown in FIG. 2, since the stacked lamp 71 is provided on the side surface of the base frame 17a, interference with the upper frame 17b in the horizontal lying posture is avoided.

[0040] The positioning unit 8 outputs positioning data for calculating the position and orientation of the vehicle body 1. The positioning unit 8 includes an inertial measurement module (not shown) that detects the inclination and acceleration of the three axes of the vehicle body 1 to assist the positioning of the satellite positioning module 8A. This inertial measurement module can also be housed in the housing 80 that houses the satellite positioning module 8A.

[0041] In the manned automatic driving mode or the unmanned automatic driving mode, the control system of the rice transplanter obtains the deviation between the vehicle position calculated based on the satellite positioning data sequentially sent from the positioning unit 8 and the set target travel route, and performs automatic steering so that the vehicle body 1 follows the target travel route.

[0042] Next, another embodiment of the storage 90 attached to the lower part of the support bracket 81 that supports the positioning unit 8 will be described with reference to FIGS. 5, 6, and 7.

[0043] As shown in FIG. 5, this storage 90 also includes an upper case 192 which is a fixed structure fixed to the support bracket 81, and a lower case 191 which is a swing structure provided on the upper case 192 so as to be swingable between a closed posture and an open posture. A storage chamber 90A is formed between the upper case 192 and the lower case 191.

[0044] The upper case 192 has a top wall 192t that is bolted to the support bracket 81, and left and right side walls 192s that extend downward from the top wall 192t. In this embodiment, the front wall region is open, except that the front end of the top wall 192t hangs downward as a tongue piece. The lower case 191 has a bottom wall 191b that forms the bottom surface of the storage chamber 90A, a pair of left and right side walls 191s, a rear wall (not shown), and a front wall 191f. A notch 191f1 that occupies more than the upper half of the front wall 191f is formed in the front wall 191f.

[0045] Also in this alternative embodiment, the upper rear end portions of the left and right side walls 192s of the upper case 192 and the upper rear end portions of the left and right side walls 191s of the lower case 191 are connected by a swing shaft pin 194, and the lower case 191 can swing up and down with respect to the upper case 192. An arcuate long hole 192s1 is formed in the side wall 192s of the upper case 192 to guide the up and down swing of the lower case 191, and a guide pin 195 that fits into the long hole 192s1 is provided on the side wall 191s of the lower case 191. A fastener 193, which is a patch key, is provided between the tongue piece of the top wall 192t of the upper case 192 and the front wall 191f of the lower case 191 to prevent the lower case 191 from swinging up and down and hold the lower case 191 in a closed position against the upper case 192.

[0046] The closed position of the lower case 191 engaged with the upper case 192 (the closed state of the storage device 90) is shown in FIG. 6, and the open position of the lower case 191 with the front end of the lower case 191 separated from the upper case 192 (the open state of the storage device 90) is shown in FIG. 7. In the closed state of the storage device 90, which is the normal state, the notch 191f1 in the front wall 191f serves as an air circulation port, and fresh air above the operation unit 14 flows into the storage chamber 90A to cool the virtual reference point data reception unit 8B. Further, also in this embodiment, when the storage device 90 is opened for maintenance of the virtual reference point data reception unit 8B or for taking in and out the devices stored in the storage chamber 90A, the bottom wall 191b of the lower case 191 slopes downward, facilitating access to the storage device 90 by the inspector or operator.

[0047] [Other Embodiments] (1) In the above-described embodiment, the positioning unit 8 and the storage unit 90 were provided on the cross beam 17b2 of the upper frame 17b of the spare seedling support frame 17. However, if it is a place where communication failure is unlikely to occur, they may be provided on other members of the spare seedling support frame 17.

[0048] (2) In the above-described embodiment, the storage unit 90 was configured to be able to swing up and down with respect to the upper cases 92 and 192 and the lower cases 91 and 191. However, it may be configured to create an open state and a closed state by swinging in the lateral direction. Also, instead of the configuration that creates an open state and a closed state by swinging, a configuration that creates an open state and a closed state by detaching and attaching a member fixed by a screw or the like may be adopted.

[0049] (3) In the above embodiment, the lower cases 91 and 191 were swing structures. However, instead of the swing structure, a vertical slide structure provided with a vertical slide mechanism between the upper case 92, a horizontal slide structure provided with a slide mechanism in the front-rear, left-right directions, a combined structure of a slide structure and a swing structure, or other displacement structures may be used.

[0050] (4) In the above embodiment, the "work vehicle" according to the present invention was a riding type rice transplanter. However, the "work vehicle" may be other work vehicles such as a combine or a tractor.

[0051] Note that the configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction. Also, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited to this, and can be appropriately modified within the scope not departing from the object of the present invention. [Industrial Applicability]

[0052] The present invention can be widely used in various agricultural work vehicles such as transplanters, fertilizer applicators, lawn mowers, combines, etc. for rice planting, and work vehicles such as construction machinery. [Explanation of Reference Numerals]

[0053] 1: Vehicle body 8: Position measuring unit 8A: Satellite positioning module 8B: Virtual reference point data receiving unit 17: Spare vaccine support frame (support frame) 17a: Base frame 17b: Upper frame 17b1: Leg part 17b2: Cross beam 70: Remote control receiver 80: Housing 81: Support bracket 90: Storage device 90A: Storage room 91: Lower case (switching structure, displacement structure, swinging structure) 92: Upper case (fixed structure) 97: Fixing mechanism 97a: Pedestal 97b: Fixture 98: Fixing mechanism 98a: Pedestal 98b: Fixture 191: Lower case (switching structure, displacement structure, swinging structure) 192: Upper case (fixed structure)

Claims

1. An automatically travelable work vehicle, a support frame erected on the vehicle body, a support bracket fixedly mounted across a cross beam of the support frame, a positioning unit attached to an upper portion of the support bracket, a storage device having a storage chamber attached to a lower portion of the support bracket, comprising: The storage device includes a fixed structure attached to the support bracket and a switching structure that can be switched between a closed state and an open state, and is a work vehicle.

2. The work vehicle according to claim 1, wherein the switching structure is a displacement structure provided on the fixed structure so as to be displaceable between a closed posture and an open posture.

3. The work vehicle according to claim 2, wherein the displacement structure is a swing structure provided on the fixed structure so as to be swingable between the closed posture and the open posture.

4. The work vehicle according to claim 3, wherein the swing structure forms at least a bottom surface of the storage chamber.

5. The work vehicle according to claim 3, wherein the swing structure is provided so as to be vertically swingable with respect to the fixed structure.

6. The work vehicle according to claim 1, wherein the storage chamber is formed as an electronic device storage chamber, and a power supply socket is provided in the storage chamber.

7. The work vehicle according to claim 1, wherein at least one surface of the storage chamber is configured to allow air circulation with the outside in the closed state of the switching structure.

8. The work vehicle according to claim 1, wherein a fixing mechanism for fixing equipment stored in the storage chamber is provided in the storage chamber.

9. The work vehicle according to claim 8, wherein the fixing mechanism is installed on a bottom surface of the storage chamber.

10. The work vehicle according to claim 8, wherein the fixing mechanism has a fixture whose fixing position with respect to the equipment is variable.

11. The work vehicle according to claim 8, wherein the fixing mechanism fixes the equipment at a position away from the bottom surface of the storage chamber upward.

12. The work vehicle according to any one of claims 1 to 11, wherein the positioning unit is a VRS method positioning unit, and a virtual reference point data receiving unit is stored in the storage chamber.

Images